In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is inves...In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.展开更多
We consider a problem of estimating an unknown location parameter from two biased samples. The biases and scale parameters of the samples are not known as well. A class of non-linear estimators is suggested and studie...We consider a problem of estimating an unknown location parameter from two biased samples. The biases and scale parameters of the samples are not known as well. A class of non-linear estimators is suggested and studied based on the fuzzy set ideas. The new estimators are compared to the traditional statistical estimators by analyzing the asymptotical bias and carrying out Monte Carlo simulations.展开更多
This paper discusses dynamic characteristics of proton exchange membrane fuel cell (PEMFC) under rapid fluctuation of power demand. Wavelet neural network is adopted in the identification of the characteristic curve t...This paper discusses dynamic characteristics of proton exchange membrane fuel cell (PEMFC) under rapid fluctuation of power demand. Wavelet neural network is adopted in the identification of the characteristic curve to predict the voltage. The system control scheme of the voltage and power is introduced. The corresponding schemes for voltage and power control are studied. MATLAB is used to simulate the control system. The results reveal that the adopted control schemes can produce expected effects. Corresponding anti-disturbance and robustness simulation are also carried out. The simulation results show that the implemented control schemes have better robustness and adaptability.展开更多
为了改善在小快拍情况下盖氏圆准则信源数估计算法的估计性能,提出了一种基于模糊聚类的信源数估计算法(Fuzzy Clustering Based Estimator-FCBE)。基于模糊聚类的信源数估计算法使用了待分类对象(特征向量)隶属于信号子空间的隶属函数...为了改善在小快拍情况下盖氏圆准则信源数估计算法的估计性能,提出了一种基于模糊聚类的信源数估计算法(Fuzzy Clustering Based Estimator-FCBE)。基于模糊聚类的信源数估计算法使用了待分类对象(特征向量)隶属于信号子空间的隶属函数值作为分类的特征,实际上引入了从对象参数到分类特征的一次映射,符合阵列信号处理中信源数估计的实际情况。通过仿真实验比较了基于模糊聚类的信源数估计算法和盖氏圆准则在小快拍下的估计性能,并且在浅水高分辨率测深侧扫声纳中的实际应用验证了基于模糊聚类的信源数估计算法的有效性。展开更多
文摘In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.
文摘We consider a problem of estimating an unknown location parameter from two biased samples. The biases and scale parameters of the samples are not known as well. A class of non-linear estimators is suggested and studied based on the fuzzy set ideas. The new estimators are compared to the traditional statistical estimators by analyzing the asymptotical bias and carrying out Monte Carlo simulations.
文摘This paper discusses dynamic characteristics of proton exchange membrane fuel cell (PEMFC) under rapid fluctuation of power demand. Wavelet neural network is adopted in the identification of the characteristic curve to predict the voltage. The system control scheme of the voltage and power is introduced. The corresponding schemes for voltage and power control are studied. MATLAB is used to simulate the control system. The results reveal that the adopted control schemes can produce expected effects. Corresponding anti-disturbance and robustness simulation are also carried out. The simulation results show that the implemented control schemes have better robustness and adaptability.
文摘为了改善在小快拍情况下盖氏圆准则信源数估计算法的估计性能,提出了一种基于模糊聚类的信源数估计算法(Fuzzy Clustering Based Estimator-FCBE)。基于模糊聚类的信源数估计算法使用了待分类对象(特征向量)隶属于信号子空间的隶属函数值作为分类的特征,实际上引入了从对象参数到分类特征的一次映射,符合阵列信号处理中信源数估计的实际情况。通过仿真实验比较了基于模糊聚类的信源数估计算法和盖氏圆准则在小快拍下的估计性能,并且在浅水高分辨率测深侧扫声纳中的实际应用验证了基于模糊聚类的信源数估计算法的有效性。
基金Supported by the National Natural Science Foundation of China(61873323,61773174,61573162)the Wuhan Science and Technology Plan Project(2018010401011292)+2 种基金the Hubei Province Natural and Science Foundation(2017CFB4165,2016CFA037)the Open Fund Project of Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System(znxx2018ZD02)the Basic Research Project of Shenzhen(JCYJ20170307160923202,JCYJ20170818163921328)
